CN111153300A - Ladder taking method and system for robot, robot and storage medium - Google Patents
Ladder taking method and system for robot, robot and storage medium Download PDFInfo
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- CN111153300A CN111153300A CN201911410417.4A CN201911410417A CN111153300A CN 111153300 A CN111153300 A CN 111153300A CN 201911410417 A CN201911410417 A CN 201911410417A CN 111153300 A CN111153300 A CN 111153300A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
- B66B1/3415—Control system configuration and the data transmission or communication within the control system
- B66B1/3446—Data transmission or communication within the control system
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/02—Control systems without regulation, i.e. without retroactive action
- B66B1/06—Control systems without regulation, i.e. without retroactive action electric
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
- B66B1/3492—Position or motion detectors or driving means for the detector
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
- B66B5/0006—Monitoring devices or performance analysers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B2201/00—Aspects of control systems of elevators
- B66B2201/40—Details of the change of control mode
- B66B2201/46—Switches or switchgear
- B66B2201/4607—Call registering systems
- B66B2201/4638—Wherein the call is registered without making physical contact with the elevator system
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Abstract
The application is applicable to the technical field of robots, and relates to a robot ladder taking method, a robot ladder taking system, a robot and a storage medium, wherein the robot ladder taking method comprises the following steps: when the elevator door is opened, triggering the projection device to project a visible projection area to the ground in the elevator; acquiring a first image containing a projection area; detecting a position of the confirmed projection area in the first image; detecting a connected domain in the projection area according to the determined position of the projection area, and calculating to obtain the area of the connected domain; and determining whether the elevator can be accessed according to the connected domain area, the preset projection area and the area judgment rule, if so, controlling the robot to access the elevator, otherwise, withdrawing the elevator access application, and sending a command signal to close the elevator door. The projection device is used for projecting a visible projection area into the elevator, visually informing the passenger robot in the elevator of an area needing to be occupied by the elevator, and the passenger considers whether the passenger robot needs to be avoided according to the prompt, so that the time of taking the passenger robot is avoided from being excessively occupied, and the friendly interaction capacity of the robot is improved.
Description
Technical Field
The application belongs to the technical field of robots, and particularly relates to a robot ladder taking method, a robot ladder taking system, a robot and a storage medium.
Background
With the development of the robot technology and the continuous deepening of artificial intelligence research, the service robot gradually plays an indispensable role in human life, has more and more intelligent functions, and is widely applied to the fields of catering, cargo transportation and the like. In some practical application scenarios, the service robot may be used in a cross-floor scenario, such as a robot transporting a courier. In this scenario, the service robot may need to take an elevator to perform cross-floor work.
However, the service robot can take the elevator due to service needs, but the elevator space is narrow, for example, when a passenger in the elevator still can take the elevator after avoiding the passenger, the passenger does not know how to avoid the elevator because the passenger and the robot do not have any information interaction or the interaction information is insufficient, the service robot does not have good interaction capability, and an effective avoidance prompt cannot be made, so that both sides wait for the opposite side to act, and more time is wasted in the waiting process.
Disclosure of Invention
The embodiment of the application provides a method and a system for taking a ladder by a robot, the robot and a storage medium, and can solve the problem that the time for taking the ladder is greatly wasted because the robot does not have good interaction capacity when the existing service robot takes the ladder.
In a first aspect, an embodiment of the present application provides a robot elevator taking method, where the method includes:
when the elevator door is opened, triggering a projection device to project a visible projection area to the ground in the elevator;
acquiring a first image containing the projection area;
detecting and confirming the position of the projection area in the first image;
detecting a connected domain in the projection area according to the determined position of the projection area, and calculating to obtain the area of the connected domain; the communication area is the area of a projection area which is not occupied by the barrier in the projection area;
determining whether the robot can enter the elevator or not according to the connected domain area, the preset projection area and the area judgment rule, and if so, controlling the robot to enter the elevator; the preset projection area is the area occupied by the robot when entering the elevator.
In a second aspect, an embodiment of the present application provides a robot elevator taking system, including:
the projection module is used for triggering the projection device to project a visible projection area to the ground in the elevator when the elevator door is opened;
an acquisition module for acquiring a first image containing the projection region;
the detection module is used for detecting and confirming the position of the projection area in the first image;
the calculation module is used for detecting a connected domain in the projection area according to the determined position of the projection area and calculating to obtain the area of the connected domain; the communication area is the area of a projection area which is not occupied by the barrier in the projection area;
the control module is used for determining whether the robot can enter the elevator or not according to the connected domain area, the preset projection area and the area judgment rule, and if so, controlling the robot to enter the elevator; the preset projection area is the area occupied by the robot when entering the elevator.
In a third aspect, the present application provides a robot, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the method when executing the computer program
In a fourth aspect, the present application provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the computer program implements the method.
In a fifth aspect, the present application provides a computer program product, which when run on a robot, causes the robot to perform the method of any one of the first aspect.
It is understood that the beneficial effects of the second aspect to the fifth aspect can be referred to the related description of the first aspect, and are not described herein again.
Compared with the prior art, the embodiment of the application has the advantages that: this application is through when the lift-cabin door is opened, utilize projection arrangement to throw visible projection district in to the elevator, inform in the vision that the passenger takes advantage of the region that the elevator needs to occupy by the passenger robot in the elevator, whether the passenger considers to dodge the robot according to the suggestion, whether the robot is taken by the projection district in the detection elevator simultaneously, judge whether can get into the elevator, when can not get into the elevator, give up taking advantage of the elevator, avoid taking advantage of the time of taking advantage of the elevator people too much, in order to improve the friendly interactive ability of robot.
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In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a schematic application environment diagram of a robot ladder-taking method according to an embodiment of the present disclosure;
fig. 2 is a schematic flow chart of a robot elevator-taking method according to an embodiment of the present disclosure;
fig. 3 is a schematic structural diagram of a robot elevator taking system according to an embodiment of the present disclosure;
fig. 4 is a schematic structural diagram of a robot according to an embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It should also be understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
As used in this specification and the appended claims, the term "if" may be interpreted contextually as "when", "upon" or "in response to" determining "or" in response to detecting ". Similarly, the phrase "if it is determined" or "if a [ described condition or event ] is detected" may be interpreted contextually to mean "upon determining" or "in response to determining" or "upon detecting [ described condition or event ]" or "in response to detecting [ described condition or event ]".
Furthermore, in the description of the present application and the appended claims, the terms "first," "second," "third," and the like are used for distinguishing between descriptions and not necessarily for describing or implying relative importance.
Reference throughout this specification to "one embodiment" or "some embodiments," or the like, means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," or the like, in various places throughout this specification are not necessarily all referring to the same embodiment, but rather "one or more but not all embodiments" unless specifically stated otherwise. The terms "comprising," "including," "having," and variations thereof mean "including, but not limited to," unless expressly specified otherwise.
The robot ladder-taking method provided by the embodiment of the application can be used in the application environment as shown in fig. 1. The application environment comprises a robot, an elevator taking device and a central server, wherein the elevator taking device comprises an elevator taking device and an elevator taking controller, the elevator taking controller is communicated with the elevator taking device through an RS485 bus, and the central server can receive an elevator taking request and an elevator releasing request of the robot. Optionally, the central server may further include a network interface, a display screen, and an input device. The robot, the elevator riding device and the central server communicate with each other through a low-power-consumption and wide-coverage network Narrow-Band Internet of things (Narrow Band Internet of things) or enhanced machine communication (eMTC).
In a conventional robot elevator taking method, a robot enters an elevator to take the elevator together with other passengers, and an elevator controller controls the elevator to reach a destination floor to which the robot arrives. Therefore, the space of the elevator is narrow, if a passenger in the elevator still can take the elevator after avoiding the passenger, the passenger does not know how to avoid the passenger because the passenger and the robot do not have any information interaction or insufficient interaction information, and the service robot does not have good interaction capability, so that an effective avoidance prompt cannot be made, both sides wait for the other side to act, and more time is wasted in the waiting process or the robot fails to take the elevator.
Therefore, the embodiment of the application provides a robot ladder-taking method, and aims to solve the technical problems in the prior art.
The following describes an exemplary method for taking a robot into a ladder according to an embodiment of the present invention.
Referring to fig. 2, a schematic flowchart of a robot elevator taking method according to an embodiment of the present application is provided. The embodiment relates to a concrete implementation process of taking a ladder by a robot. The method comprises the following steps:
s101: when the elevator door is opened, the projection device is triggered to project a visible projection area onto the ground in the elevator.
In this embodiment, the robot travels to a predetermined waiting area for the elevator to ride on, waits for the elevator, and projects a visible projection area onto the ground within the elevator in response to triggering the onboard projection device when it is detected that the elevator doors are open. The projection area may be a projection aperture, a projection pattern, which may be circular, triangular, quadrilateral, pentagonal, or other polygonal shape. The projection pattern can be a pattern comprising a contour, and the pattern can be a pattern with a character with a prompt for avoiding, and can be a color pattern or a black and white pattern.
S102: a first image is acquired that includes the projected area.
In this embodiment, after the projection device of the robot projects the projection area, a first image including the projection area is acquired in response to starting the camera device. The camera means may be a depth camera.
When the brightness of the environment in the elevator is lower than a preset brightness value, the brightness is increased to make the acquired first image clearer, and filtering operation is performed on the excessively dark image noise, for example, the acquired first image is processed based on high-pass filtering and median filtering to filter the image noise.
S103: and detecting and confirming the position of the projection area in the first image.
In this embodiment, the position of the projection area in the first image is detected and confirmed according to the position of the predetermined waiting area of the robot and the projection initial angle. For example, the position of the projection area in the first image is the middle of the image, the lower left corner of the image, the upper left corner of the image, the lower right corner of the image, or the upper right corner of the image.
S104: detecting a connected domain in the projection area according to the determined position of the projection area, and calculating to obtain the area of the connected domain; the communication area is the area of a projection area which is not occupied by the barrier in the projection area.
In this embodiment, when the projection area is unoccupied, the connected domain of the projection area corresponds to the projection area, i.e., the projection area not occupied by the obstacle, and the corresponding connected domain area is the elevator area occupied when the robot travels to the projection area. The detection and extraction of the connected domain have a plurality of mature algorithms, such as a four-connected domain (see whether four adjacent pixels of a certain pixel are also projection regions without obstacles, if yes, the four adjacent pixels are added into the connected domain, and so on) and an eight-connected domain (similar), and finally the position and the area of the connected domain in the projection region in the image can be obtained. In addition, since the projection area may be occupied by some small objects, the projection area may be divided into a plurality of connected domains.
S105: determining whether the robot can enter the elevator or not according to the connected domain area, the preset projection area and the area judgment rule, and if so, controlling the robot to enter the elevator; the preset projection area is the area occupied by the robot when entering the elevator.
In this embodiment, the area of the area that the robot needs to occupy to enter the elevator may be the area of a circular area, the area of a triangular area, the area of a quadrilateral area, the area of a pentagonal area, or the area of another polygonal area. The area judgment rule is as follows: (1) calculating to obtain a difference value between the connected domain area and the preset projection area; (2) judging whether the difference value is larger than a preset difference threshold value, if so, judging that a person or an object occupies the projection area, namely, the robot cannot enter the elevator, if not, namely, the difference value is smaller than or equal to the preset difference threshold value, judging that the robot can enter the elevator, acquiring prompt voice for playing so as to facilitate surrounding passengers to pay attention to avoiding, and when the robot arrives at the projection area and stops, sending a request for closing the elevator door to the central server so as to facilitate the central server to instruct the elevator taking controller to control the elevator door to be closed according to the request for closing the elevator door.
Optionally, in step S104, in order to quickly determine whether there is enough space in the elevator to accommodate the robot and reduce the calculation amount, only the projection area is calculated to obtain the space accommodation condition, so that whether a person blocks the robot from entering the elevator can be accurately and efficiently calculated, and the result can be fed back to the robot in real time, thereby improving the efficiency of the robot in determining whether the robot enters the elevator. Namely, when the position of the projection area is determined, calculating the characteristic value of the projection area; determining feature points with feature values larger than or equal to preset feature values in the projection area according to a preset feature classifier and the feature values; and judging whether the projection area has an obstacle or not according to the characteristic points, if so, determining a communication area of the projection area with the obstacle according to the projection area without the obstacle and the projection area with the obstacle, and calculating to obtain the area of the communication area.
The image feature value of the projection area can be calculated based on a Scale-invariant feature transform (SIFT) algorithm to obtain feature distribution of the image of the projection area, and an SVM (Support Vector Machine) algorithm is used as a classifier to classify the obstacle feature and the elevator feature in the projection area to judge whether an object occupies the projection area. For the SIFT algorithm and the SVM algorithm, reference may be made to related contents in the prior art, and details are not described herein.
In one embodiment, when the robot confirms that the area of the connected domain is smaller than the preset projection area according to the acquired image of the projection area, namely, if the elevator can not be entered, the projection information of the projection area is switched and the avoidance information is output, and after waiting for a first preset time, acquiring a second image containing the projection area again, detecting and confirming the position of the projection area in the second image again, detecting a connected domain in the projection area according to the determined position of the projection area, and calculating to obtain the area of the connected domain, judging whether the elevator can be accessed according to the area of the connected domain, the preset projection area and the preset judgment rule, and when the difference value between the area of the connected domain and the preset projection area is larger than a preset difference threshold value, judging that the elevator entrance application is withdrawn, and sending an instruction signal to close the elevator door.
The projection information may be a color or a pattern of the projection area, and the avoidance information may be voice information or video information. For example, when the projection area is occupied by a person, the color of the projection area is switched, for example, a green projection area is switched to a red projection area, and a similar voice playing reminder such as "you are good and please get a night" is output, so that under the guidance of vision and hearing, a passenger is reminded to avoid the robot.
In one possible scenario, the calculated connected component area is smaller than the preset projection area due to the fact that the projection area is occupied possibly by some small objects, so that it is determined that the projection area is occupied, the elevator is not enough to ride the robot, and therefore the objects in the projection area need to be confirmed again.
For example, another embodiment of the present application provides a robot elevator-taking method, which mainly relates to a process of reconfirming an object occupying the projection area. The method comprises the following steps:
when the difference value between the connected domain area and the preset projection area is larger than the preset difference threshold value, performing texture feature detection on the projection area;
judging whether the barrier occupying the partial area in the projection area is an object with the volume smaller than a first preset volume or not according to the texture feature detection result;
and if so, controlling the robot to enter the elevator, otherwise, withdrawing the elevator entering application, and sending a command signal to close the elevator door.
In the embodiment, an edge extraction algorithm is adopted for texture feature detection, an area with texture feature intensity larger than a preset texture feature threshold value is determined as an object area, the area of the object area is calculated, namely the area occupied by an object with volume smaller than a first preset volume is calculated, so that a new connected domain area is calculated according to the area of the object area and the prior connected domain area, the difference operation is carried out on the new connected domain area and the preset projection area, whether the calculated difference value is larger than a preset difference threshold value or not is determined, if not, the obstacle is a small object, the robot can be controlled to enter the elevator, otherwise, the robot withdraws the elevator taking request of the robot and sends a command signal to an elevator taking controller of the elevator, the elevator door is controlled to be closed by the elevator taking controller, so that the robot is prevented from waiting for the avoidance of passengers, wasting time for the passenger.
In an embodiment, there may be a scenario where a passenger in the elevator needs to take the elevator to go to its destination floor urgently, and after the robot triggers the projection device to project the projection area on the ground of the elevator and plays the avoidance reminder, the passenger still urgently acts on the button of the elevator, for example, continuously acts on the door closing button of the elevator or the button of a certain floor within 5s to 10s, and if the robot continues to take the elevator, the passenger may be delayed.
To this end, another exemplary embodiment of the present application provides a method for a robot to take a ride, which mainly involves detecting that passengers are eagerly using an elevator for the robot, thereby abandoning the ride process. The method comprises the following steps:
and acquiring the frequency information of the response requests of the elevator.
And when the frequency information is greater than the preset frequency, acquiring the time point of the response request.
And determining the longest time interval between the response requests according to the time points, judging whether the longest time interval is less than or equal to second preset time, if so, judging that the elevator entrance application is withdrawn, and sending an instruction signal to close the elevator door.
In this embodiment, the robot detects in real time a key response received from the elevator controller after sending an elevator taking request to the elevator taking control until the elevator taking is successful, for example, obtains an elevator key response value from the elevator taking controller, where the response value may be used to identify the number of times of response requests of the elevator, and multiple key responses occur within the second preset time, and the response value is greater than a preset response value, that is, when the number information is greater than the preset number of times, the shortest time interval and the longest time interval between multiple response requests are calculated according to the time point of occurrence of each response request, so as to determine whether the longest time interval is less than or equal to the second preset time, if so, it indicates that the user is eagerly using the elevator and multiple acting on the keys of the elevator within a short time, in order to avoid wasting the elevator taking time of passengers, the robot sends an elevator withdrawing and entering application to the elevator taking controller, so that the elevator withdrawing and entering application is withdrawn, and sends a command signal to close the elevator.
In another embodiment, when the robot calculates and confirms whether an occupied object exists in the projection area, the object exists in the projection area, and the object still occupies the projection area within a preset second time, it is determined that passengers in the elevator use the elevator urgently, so that the passengers do not leave the projection area.
In one embodiment, the robot may shake during traveling, so that the image projected by the projection device is shaken, passengers in the elevator may feel visual vertigo when viewing the projection area, and the image may shake to greatly increase difficulty of image processing.
For this reason, the example, this application projection arrangement passes through the cloud platform and fixes and locate on the robot to in order to adjust projection arrangement's projection angle, and weaken the robot course of motion and to the influence in projection district, avoid the projection district also to shake along with the shake of robot promptly, guarantee that the robot can not influence the quality of projection and the quality of gathering the image because of shaking in the course of motion. Therefore, in the process of the robot moving, the projection angle of the projection device is adjusted according to the moving state information of the robot, so that the position of the projection area is kept in the initial projection area. The travel state information includes acceleration, angular velocity, shake amplitude, distance from the projection area, and the like of the robot.
In addition, in order to confirm whether the projection area is occupied by passengers in real time, the image including the projection area is acquired in real time during the traveling and elevator-taking process of the robot, and whether the projection area is changed or not is confirmed.
In one embodiment, a possible implementation manner is that the robot does not detect the connected domain in the projection area and calculate the area of the connected domain, but determines whether the outline of the projection area is deformed, thereby determining whether the projection area is occupied by an object or a person, and further determines whether there is enough space in the elevator to accommodate the robot.
In an example, another embodiment of the present application provides a robot elevator-taking method, which mainly involves a process of determining whether an outline of the projection area is deformed. The method comprises the following steps:
when the elevator door is opened, triggering a projection device to project a visible projection area to the ground in the elevator;
acquiring a first image containing the projection area;
detecting and confirming the position of the projection area in the first image;
detecting the outline of the projection area according to the determined position of the projection area, and calculating to obtain a length value of the outline; the length value of the contour is the length value of the contour of the projection area which is not occupied by the obstacle in the projection area;
determining whether the robot can enter the elevator or not according to the length value, a preset length value and a length judgment rule, and if so, controlling the robot to enter the elevator; the preset length value is the length value of the contour of the area which needs to be occupied when the robot enters the elevator.
In this embodiment, the length determination rule is: (1) calculating to obtain the difference value between the length value and the length value; (2) and judging whether the difference value is greater than a preset difference threshold value of the outline or not, if so, judging that a person or an object occupies the projection area, namely, the robot cannot enter the elevator, and if not, namely, the difference value is less than or equal to the preset difference threshold value, judging that the robot can enter the elevator and acquiring prompt voice for playing so as to bring convenience to surrounding passengers to pay attention to avoiding.
In one embodiment, the robot sends a ride request to the central server before detecting whether the elevator doors are open, thereby triggering a projection device to project a visible projection area onto the ground within the elevator. The elevator taking request comprises information of the floor where the robot is located currently and information of the floor to be moved to.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.
Fig. 3 is a block diagram of a robot elevator-taking system according to an embodiment of the present application, which corresponds to the robot elevator-taking method according to the above embodiment, and only the parts related to the embodiment of the present application are shown for convenience of description.
Referring to fig. 3, the system includes: the device comprises a projection module, an acquisition module, a detection module, a calculation module and a control module.
The projection module is used for triggering the projection device to project a visible projection area to the ground in the elevator when the elevator door is opened.
The acquisition module is used for acquiring a first image containing the projection area.
The detection module is used for detecting and confirming the position of the projection area in the first image.
The calculation module is used for detecting a connected domain in the projection area according to the determined position of the projection area and calculating to obtain the area of the connected domain; the communication area is the area of a projection area which is not occupied by the barrier in the projection area.
The control module is used for determining whether the robot can enter the elevator or not according to the connected domain area, the preset projection area and the area judgment rule, and if so, controlling the robot to enter the elevator; the preset projection area is the area occupied by the robot when entering the elevator.
In another embodiment, the embodiment of the present application further provides a structural block diagram of a robot elevator taking system. The system comprises a projection module, an acquisition module, a detection module, a calculation module and a control module.
The projection module is used for triggering the projection device to project a visible projection area to the ground in the elevator when the elevator door is opened.
The acquisition module is used for acquiring a first image containing the projection area.
The detection module is used for detecting and confirming the position of the projection area in the first image.
The calculation module is used for detecting the outline of the projection area according to the determined position of the projection area and calculating to obtain the length value of the outline; the length value of the contour is the length of the contour of the projection area not occupied by the obstacle in the projection area.
The control module is used for determining whether the robot can enter the elevator or not according to the length value, a preset length value and a length judgment rule, and if so, controlling the robot to enter the elevator; the preset length value is the length value of the contour of the area which needs to be occupied when the robot enters the elevator.
Fig. 4 is a schematic structural diagram of a robot according to an embodiment of the present application. As shown in fig. 4, the robot 4 of this embodiment includes: at least one processor 40 (only one processor is shown in fig. 4), a memory 41, and a computer program 42 stored in the memory 41 and executable on the at least one processor 40, wherein the processor 40 executes the computer program 42 to implement the steps in any of the various robot elevator-taking method embodiments described above.
The robot may include, but is not limited to, a processor 40, a memory 41. Those skilled in the art will appreciate that fig. 4 is merely an example of the robot 4, and does not constitute a limitation of the robot 4, and may include more or less components than those shown, or combine some of the components, or different components, such as input and output devices, network access devices, etc.
The Processor 40 may be a Central Processing Unit (CPU), and the Processor 40 may also be other general purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field-Programmable Gate arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 41 may in some embodiments be an internal storage unit of the robot 4, such as a hard disk or a memory of the robot 4. The memory 41 may also be an external storage device of the robot 4 in other embodiments, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, which are provided on the robot 4. Further, the memory 41 may also include both an internal storage unit and an external storage device of the robot 4. The memory 41 is used for storing an operating system, an application program, a BootLoader (BootLoader), data, and other programs, such as program codes of the computer program. The memory 41 may also be used to temporarily store data that has been output or is to be output.
It should be noted that, for the information interaction, execution process, and other contents between the above-mentioned devices/units, the specific functions and technical effects thereof are based on the same concept as those of the embodiment of the method of the present application, and specific reference may be made to the part of the embodiment of the method, which is not described herein again.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
The embodiments of the present application further provide a computer-readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the computer program implements the steps in the above-mentioned method embodiments.
The embodiments of the present application provide a computer program product, which when running on a robot, enables the robot to implement the steps in the above method embodiments when executed.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, all or part of the processes in the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium and can implement the steps of the embodiments of the methods described above when the computer program is executed by a processor. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include at least: any entity or device capable of carrying computer program code to a photographing apparatus/terminal apparatus, a recording medium, computer Memory, Read-Only Memory (ROM), random-access Memory (RAM), an electrical carrier signal, a telecommunications signal, and a software distribution medium. Such as a usb-disk, a removable hard disk, a magnetic or optical disk, etc. In certain jurisdictions, computer-readable media may not be an electrical carrier signal or a telecommunications signal in accordance with legislative and patent practice.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus/network device and method may be implemented in other ways. For example, the above-described apparatus/network device embodiments are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implementing, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not implemented. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (10)
1. A method for a robot to ride a ladder, the method comprising:
when the elevator door is opened, triggering a projection device to project a visible projection area to the ground in the elevator;
acquiring a first image containing the projection area;
detecting and confirming the position of the projection area in the first image;
detecting a connected domain in the projection area according to the determined position of the projection area, and calculating to obtain the area of the connected domain; the communication area is the area of a projection area which is not occupied by the barrier in the projection area;
determining whether the elevator can be accessed according to the connected domain area, the preset projection area and the area judgment rule, if so, controlling the robot to access the elevator, otherwise, withdrawing the elevator access application, and sending a command signal to close the elevator door; the preset projection area is the area occupied by the robot when entering the elevator.
2. The robot ladder-taking method according to claim 1, wherein the detecting a connected domain in the projection area and calculating an area of the connected domain based on the determined position of the projection area comprises:
when the position of the projection area is determined, calculating a characteristic value of the projection area;
determining feature points with feature values larger than or equal to preset feature values in the projection area according to a preset feature classifier and the feature values;
and judging whether the projection area has an obstacle or not according to the characteristic points, if so, determining a communication area of the projection area with the obstacle according to the projection area without the obstacle and the projection area with the obstacle, and calculating to obtain the area of the communication area.
3. The robot boarding method according to claim 1, wherein the determining whether the elevator can be entered according to the connected component area, a preset projection area, and an area determination rule further includes:
if the elevator cannot be entered, switching projection information and output avoidance information of the projection area, acquiring a second image containing the projection area after waiting for a first preset time, detecting and confirming the position of the projection area in the second image again, detecting a connected domain in the projection area according to the determined position of the projection area, calculating to obtain the area of the connected domain, judging whether the elevator can be entered according to the area of the connected domain, a preset projection area and a preset judgment rule, judging to withdraw the elevator entering application when the difference value between the area of the connected domain and the preset projection area is larger than a preset difference threshold value, and sending an instruction signal to close the elevator door.
4. The method as claimed in claim 3, wherein when the difference between the connected component area and the predetermined projected area is greater than a predetermined difference threshold, determining that the elevator entrance application is withdrawn, and sending a command signal to close the elevator door, further comprising:
when the difference value between the connected domain area and the preset projection area is larger than the preset difference threshold value, performing texture feature detection on the projection area;
judging whether the barrier occupying the partial area in the projection area is an object with the volume smaller than a first preset volume or not according to the texture feature detection result;
and if so, controlling the robot to enter the elevator, otherwise, withdrawing the elevator entering application, and sending a command signal to close the elevator door.
5. The robot boarding method according to claim 3, wherein switching projection information of the projection area and outputting avoidance information when it is determined that the elevator cannot be entered comprises:
acquiring the frequency information of the response requests of the elevator;
when the frequency information is greater than a preset frequency, acquiring a time point when the response request occurs;
and determining the longest time interval between the response requests according to the time points, judging whether the longest time interval is less than or equal to second preset time, if so, judging that the elevator entrance application is withdrawn, and sending a signal to close the elevator door.
6. The method as claimed in claim 1, wherein the controlling the robot to enter the elevator comprises:
adjusting the projection angle of the projection device according to the traveling state information of the robot so as to keep the position of the projection area in the initial projection area; the projection device is fixedly arranged on the robot through a holder.
7. The robot ladder-riding method according to claim 1, wherein when the connected component in the projection area is not detected and the area of the connected component is calculated, the method comprises:
detecting the outline of the projection area according to the determined position of the projection area, and calculating to obtain a length value of the outline; the length value of the contour is the length value of the contour of the projection area which is not occupied by the obstacle in the projection area;
determining whether the robot can enter the elevator or not according to the length value, a preset length value and a length judgment rule, and if so, controlling the robot to enter the elevator; the preset length value is the length value of the contour of the area which needs to be occupied when the robot enters the elevator.
8. A robotic ladder handling system, the system comprising:
the projection module is used for triggering the projection device to project a visible projection area to the ground in the elevator when the elevator door is opened;
an acquisition module for acquiring a first image containing the projection region;
the detection module is used for detecting and confirming the position of the projection area in the first image;
the calculation module is used for detecting a connected domain in the projection area according to the determined position of the projection area and calculating to obtain the area of the connected domain; the communication area is the area of a projection area which is not occupied by the barrier in the projection area;
the control module is used for determining whether the robot can enter the elevator or not according to the connected domain area, the preset projection area and the area judgment rule, and if so, controlling the robot to enter the elevator; the preset projection area is the area occupied by the robot when entering the elevator.
9. A robot comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the method according to any of claims 1 to 7 when executing the computer program.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1 to 7.
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| CN201911410417.4A CN111153300B (en) | 2019-12-31 | 2019-12-31 | Ladder taking method and system for robot, robot and storage medium |
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| CN201911410417.4A CN111153300B (en) | 2019-12-31 | 2019-12-31 | Ladder taking method and system for robot, robot and storage medium |
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